version: 66.01
glider: 1
mission: 1
dive: 12
start: 10 9 106 16 35 6
data:
$ID,1
$MISSION,1
$DIVE,12
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,7.0000001e-06
$D_PITCH,1.5
$D_SAFE,100
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,20
$T_DIVE,240
$T_MISSION,300
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,-2
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.02765
$MASS,51747
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,450.37079
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,1
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-446772.25
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,679
$PITCH_MAX,3252
$C_PITCH,2263
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.045000002
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,180
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,166
$ROLL_MAX,3791
$C_ROLL_DIVE,1978
$C_ROLL_CLIMB,1978
$HEAD_ERRBAND,8
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,4
$R_STBD_OVSHOOT,0
$ROLL_AD_RATE,500
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,421
$VBD_MAX,3792
$C_VBD,2257
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,20
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,0.27000001
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,3.5
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,10
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,32
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042857998
$SEABIRD_T_H,0.00062588596
$SEABIRD_T_I,2.1643695e-05
$SEABIRD_T_J,2.0181028e-06
$SEABIRD_C_G,-10.005328
$SEABIRD_C_H,1.1235065
$SEABIRD_C_I,-0.0015880254
$SEABIRD_C_J,0.0001984441
$GPS1,162948,6634.380,-6015.891,11,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.7
$GPS2,163404,6634.380,-6015.891,23,1.1,23,18.0
$SPEED_LIMITS,0.215,0.230
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.219,0.070
$KALMAN_X,-14349.0,2237.9,775.0,17442.7,-10054.8
$KALMAN_Y,1446.5,473.8,-24.8,2896.9,774.5
$MHEAD_RNG_PITCHd_Wd,52.6,159210,-26.0,-13.750
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,41,-1.49,-116.8,0.0,0.0,0,59,0.00,0.00,-7.97,0.000,6,0.000,0.000,632,1887,2889
$GC,65,-1.49,-116.8,0.3,-0.0,2,83,6.43,3.35,0.00,0.000,4,0.000,0.000,1960,3559,2894
$GC,234,-1.49,-116.8,23.6,-11.8,28,244,0.12,3.62,0.00,0.000,6,0.000,0.000,1952,1746,2887
$GC,604,-1.58,-116.8,66.5,-11.3,89,613,0.43,3.25,0.00,0.000,4,0.000,0.000,1827,3575,2894
$GC,730,-1.54,-116.8,88.0,-17.8,109,739,0.52,3.60,0.00,0.000,6,0.000,0.000,1962,1770,2894
$GC,1079,-1.44,-116.8,129.1,-11.5,136,1086,0.00,3.42,0.00,0.000,4,0.000,0.000,1976,3650,2887
$GC,1193,-1.42,-116.8,142.7,-11.5,140,1201,0.00,3.03,0.00,0.000,6,0.000,0.000,1957,1821,2893
$GC,1517,-1.53,-116.8,180.6,-12.0,156,1522,0.00,2.78,0.00,0.000,4,0.000,0.000,1945,3507,2898
$GC,1611,-1.47,-116.8,191.6,-11.8,160,1618,0.00,3.53,0.00,0.000,6,0.000,0.000,1976,1837,2890
$GC,1951,-1.54,-116.8,230.4,-10.5,176,1957,0.03,2.67,0.00,0.000,4,0.000,0.000,1936,3539,2886
$GC,2052,-1.63,-116.8,242.8,-11.6,180,2066,0.52,3.45,0.00,0.000,6,0.000,0.000,1848,1727,2901
$GC,2377,-1.71,-116.8,299.8,-18.0,196,2385,0.52,3.47,0.00,0.000,4,0.000,0.000,1942,3412,2893
$GC,2505,-1.32,-116.8,315.6,-13.6,201,2510,0.00,2.78,0.00,0.000,6,0.000,0.000,1955,1886,2896
$GC,2831,-1.37,-116.8,353.4,-11.9,216,2836,0.00,2.47,0.00,0.000,4,0.000,0.000,1955,3413,2888
$GC,2925,-1.30,-116.8,364.4,-9.6,220,2931,0.08,3.05,0.00,0.000,6,0.000,0.000,1946,1756,2890
$GC,3257,-1.46,-116.8,404.9,-12.0,236,3264,0.00,3.45,0.00,0.000,4,0.000,0.000,1940,3561,2894
$GC,3374,-1.39,-116.8,418.9,-11.9,241,3381,0.00,3.70,0.00,0.000,6,0.000,0.000,1972,1834,2892
$GC,3710,-1.46,-116.8,459.4,-12.1,257,3716,0.00,3.17,0.00,0.000,4,0.000,0.000,1944,3471,2888
$GC,3813,-1.38,-116.8,471.6,-11.9,261,3818,0.00,2.88,0.00,0.000,6,0.000,0.000,1946,1976,2892
$GC,4132,-1.43,-116.8,510.1,-12.1,274,4138,0.00,3.22,0.00,0.000,4,0.000,0.000,1932,3663,2894
$GC,4191,-1.35,-116.8,517.6,-11.8,275,4199,0.03,3.75,0.00,0.000,6,0.000,0.000,1944,1820,2893
$STATE,4217,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4217,begin apogee
$GC,4230,-0.25,0.0,521.2,12.4,276,4249,1.27,0.00,15.50,0.000,6,0.000,0.000,2233,2141,2240
$STATE,4250,end apogee,CONTROL_FINISHED_OK
$STATE,4250,begin climb
$GC,4256,1.49,116.8,521.2,0.0,276,4271,1.62,0.00,11.20,0.000,6,0.000,0.000,2641,2140,1774
$GC,4573,1.49,116.8,465.5,19.4,288,4579,0.45,2.47,0.00,0.000,4,0.000,0.000,2519,3430,1770
$GC,4654,1.28,142.4,455.0,11.7,291,4667,0.00,2.95,2.62,0.001,6,0.000,0.000,2486,1784,1651
$GC,4984,1.52,154.9,407.6,12.8,307,4993,0.62,4.03,0.90,0.001,4,0.000,0.000,2616,3593,1608
$GC,5120,1.68,154.9,378.2,21.6,313,5126,0.03,3.12,0.00,0.000,6,0.000,0.000,2584,1780,1601
$GC,5452,1.63,154.9,307.4,21.9,329,5457,0.00,3.15,0.00,0.000,4,0.000,0.000,2614,3658,1598
$GC,5595,1.46,154.9,273.8,21.8,335,5607,0.38,2.85,0.00,0.000,6,0.000,0.000,2545,1949,1605
$GC,5924,1.43,154.9,216.3,18.2,351,5930,0.00,3.28,0.00,0.000,4,0.000,0.000,2561,3590,1609
$GC,6037,1.32,154.9,196.8,16.6,355,6046,0.00,3.83,0.00,0.000,6,0.000,0.000,2548,1771,1599
$GC,6356,1.43,154.9,142.0,16.9,371,6362,0.00,3.17,0.00,0.000,4,0.000,0.000,2559,3486,1606
$GC,6494,1.43,154.9,118.3,16.8,377,6500,0.12,2.95,0.00,0.000,6,0.000,0.000,2559,1971,1603
$GC,6850,1.51,154.9,57.1,17.4,422,6859,0.45,3.10,0.00,0.000,4,0.000,0.000,2686,3647,1603
$GC,6950,1.51,154.9,30.7,32.7,437,6960,0.47,3.62,0.00,0.000,6,0.000,0.000,2538,1841,1603
$STATE,7077,end climb,SURFACE_DEPTH_REACHED
$STATE,7078,begin surface coast
$FINISH,0.3,1.024887
$STATE,7090,end surface coast,CONTROL_FINISHED_OK
$STATE,7090,begin surface
$SM_CCo,7120,18.45,0.000,0,0,404,450.62
$SM_GC,0.34,0.00,0.00,18.45,0.000,0.000,0.000,587,2144,404,-7.75,5.54,450.62
$RAFOS_CLK,0
$RAFOS,2,1160411046,16.416666,16.401667,80,0,0,0,0,0,951,0,0,0,0,0
$RAFOS_FIX,6633.878418,-6012.691406,091006,161621,3,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,2271
$INTERNAL_PRESSURE,26.0651
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_TOP_PING,19.1,999.0
$ALTIM_BOTTOM_PING,451.9,79.2
$24V_AH,23.7,32.561
$10V_AH,9.7,4.955
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,23.625,104.300,30.225,18.450,0.000,0.000,0.000,64.685,4.000,24.183,1511.118,4423.316,235.451,579.829,659.766,33.346,728.256,0.000,493.910,0.000,23.461
$DEVICE_MAMPS,119.000,60.000,1300.000,600.000,0.000,103.000,0.000,223.000,420.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,26.000,1.500,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15823,460
$CFSIZE,255582208,243658752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,41,802,0,0
$SOUNDSPEED,1459.5
$CURRENT,0.058,310.1,1
$GPS,091006,183534,6634.787,-6014.429,14,1.1,14,18.0